Robotic System Display Method for Displaying Auxiliary Information

ABSTRACT

A Robotic control system has a wand, which emits multiple narrow beams of light, which fall on a light sensor array, or with a camera, a surface, defining the wand&#39;s changing position and attitude which a computer uses to direct relative motion of robotic tools or remote processes, such as those that are controlled by a mouse, but in three dimensions and motion compensation means and means for reducing latency.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/490,098, filed Apr. 18, 2017, which is a continuation of U.S. patentapplication Ser. No. 15/211,295, filed Jul. 15, 2016, which is acontinuation of U.S. patent application Ser. No. 14/831,045, filed Aug.20, 2015, which is a continuation of U.S. patent application Ser. No.14/302,723 filed 12 Jun. 2014, which is a continuation of U.S. patentapplication Ser. No. 12/449,779 filed 25 Aug. 2009 which is a 371 ofInternational Patent Application PCT/CA2008/000392 filed 29 Feb. 2008,which claims the benefit of the filing dates of U.S. Patent ApplicationNo. 60/904,187 filed 1 Mar. 2007 under the title LIGHT SENSOR ARRAYFORMING CAGE AROUND OPERATOR MANIPULATED WAND USED FOR CONTROL OF ROBOTOR REMOTE PROCESSES; U.S. Patent Application No. 60/921,467 filed 3 Apr.2007 under the title OPERATOR MANIPULATED WAND WHICH CASTS BEAM ONTOLIGHT SENSOR ARRAY FOR CONTROL OF ROBOT OR REMOTE PROCESSES, WITH HAPTICFEEDBACK; U.S. Patent Application No. 60/907,723 filed 13 Apr. 2007under the title OPERATOR MANIPULATED WAND WHICH CASTS BEAM ONTO LIGHTSENSOR ARRAY OR SURFACE FOR CONTROL OF ROBOT OR REMOTE PROCESSES, WITHOR WITHOUT HAPTIC FEEDBACK; U.S. Patent Application No. 60/933,948 filed11 Jun. 2007 under the title OPERATOR MANIPULATED WAND WHICH CASTSBEAM(S) ONTO LIGHT SENSOR ARRAY OR SURFACE FOR CONTROL OF ROBOT ORREMOTE PROCESSES IN THREE DIMENSIONS, WITH HAPTIC FEEDBACK AND MOTIONCOMPENSATION; U.S. Patent Application No. 60/937,987 filed 2 Jul. 2007under the title OPERATOR MANIPULATED WAND WHICH CASTS BEAM(S) OR SHAPESONTO LIGHT SENSOR ARRAY OR SURFACE FOR CONTROL OF ROBOT OR REMOTEPROCESSES IN THREE DIMENSIONS, WITH HAPTIC FEEDBACK AND MOTIONCOMPENSATION; and U.S. Patent Application No. 61/001,756 filed 5 Nov.2007 under the title OPERATOR MANIPULATED WAND WHICH CASTS BEAM(S) ORSHAPES ONTO LIGHT SENSOR ARRAY OR SURFACE FOR CONTROL OF ROBOT OR REMOTEPROCESSES IN THREE DIMENSIONS, WITH HAPTIC FEEDBACK, MOTION AND LATENCYCOMPENSATION. The content of these patent applications is herebyexpressly incorporated by reference into the detailed descriptionhereof. The content of these patent applications is hereby expresslyincorporated by reference into the detailed description hereof.

FIELD OF INVENTION

This invention relates to operator interfaces for controlling robots andremote processes, including pointing devices, such as a mouse. It alsorelates to methods and systems for controlling remote processes.

BACKGROUND OF THE INVENTION

Real-time operator control of robots has been accomplished withelectromechanical controls such as joysticks and multiple axis handgrips. These devices suffer from a limited range of motion due to beingconstrained by the geometry of the control device. In otherapplications, such as surgery, the operator's hand and finger motionsused to operate the device do not closely approximate those motions hewould use in conducting the operation by hand. This requires the surgeonto use a different repertoire of hand motions for the robot control,than he would for conducting the operation by hand. Other devices suchas a glove actuator, while more closely approximating the actual motionof the hand, suffers from a lack of accuracy regarding the motion of theinstrument the hand and fingers grasp, and it is the working end of theinstrument which is being mimicked by the robot's tools that do thework. Other interfaces have been developed that rely on multiple camerasto record the motion of the operator's hands with or without fauxinstruments, but these can also suffer from a lack of accuracy.

These devices also suffer from mechanical wear and tear, whichcompromises accuracy and require maintenance.

These devices suffer from latency, especially when the operator isseparated from the worksite by sufficient distances that there is asignificant delay in transmission.

BRIEF DESCRIPTION OF THE DRAWINGS

For a better understanding of the present invention and to show moreclearly how it may be carried into effect, reference will now be made,by way of example, to the accompanying drawings that show the preferredembodiment of the present invention and in which:

FIG. 1 is a perspective view of portions of an input interface includinga first object, an open sided box having a surface (light sensor array),and a second object (a wand) projecting an image pattern (light beams)to actively generate an image pattern on the surface (spots of light)which is detected by the light sensor in accordance with various exampleembodiments of aspects of the present invention.

FIG. 2 is a perspective view of portions of an alternative inputinterface including a buckyball shaped sensor array in accordance withvarious example embodiments of aspects of the present invention.

FIG. 3 is a perspective view of additional portions of an inputinterface, utilizing, for example, the input interface of FIG. 1, andincluding transmission means from the sensor array to computer, and athree dimensional viewer including superimposed force feedbackinformation on top of a three dimensional image of a work space inaccordance with various example embodiments of aspects of the presentinvention.

FIG. 4 and FIG. 5 are perspective views of details of two examples offorce feedback information for the input interface of FIG. 3.

FIG. 6 is a perspective view and block view of various elements of arobotic control system, including the input interface of FIG. 1, inaccordance with various embodiments of aspects of the present invention.

FIG. 6a is an example of an alternative input interface which uses onlya single panel to form the sensor array.

FIG. 6a 1 is a perspective view of a further alternative user interface,similar to that illustrated in FIG. 6a , except that the sensor array iscomprised of two panels, at an angle relative to each other, known to acomputer.

FIG. 6a 2 is a perspective view of another alternative user interface,similar to that illustrated in FIG. 6a , except that the camera islocated in a stationary position above the surface.

FIG. 6b is a block diagram illustrating another further alternate userinterface in which a lens is included and which tracks the spotsprojected onto a surface and transmits the information wirelessly to thecontroller/encoder and/or the computer.

FIG. 6c is a cross-sectional, perspective view of an example embodimentof a faux instrument wand which includes a lens.

FIG. 7 is a cross-sectional, perspective view of an example embodimentof a wand, including rechargeable battery and controller/encoder,various example controls, and light emitter cluster, which houses thelight emitters.

FIG. 8 is a cross-sectional, perspective view of a faux forceps wand.

FIG. 8a is a cross-sectional, perspective view of an example embodimentof a wand similar to FIG. 7, but instead of multiple fixed emitters,there is one emitter, the beam of which is redirected by a mirror orother beam redirecting device.

FIG. 8b is a cross-sectional, perspective view of the distal end of thewand of FIG. 8a , illustrating an emitter beam which is redirected by amirror.

FIG. 8c is a cross-sectional, perspective view of the distal end of thewand of FIG. 8a , illustrating an emitter beam which is redirected bymirrors.

FIG. 8d is a perspective view of a surface on which an addressing gridhas been overlain. For diagrammatical clarity, only parts of the gridhave been illustrated, it being understood that the grid is continuousover the surface.

FIG. 9 is a cross-sectional, perspective view of an example embodimentof a faux forceps wand which includes a finger slider and sensor and/orhaptic feedback device.

FIG. 10 is a perspective view of a further example embodiment of anoperator viewer, with force feedback information as illustrated indetail, and tool icons of available tools a selected tool.

FIG. 11 is a cross-sectional, perspective view which illustrates anexample of relative movement of wand controls and consequent movement ofa tool.

FIGS. 12, 13 and 14 are cross-sectional, perspective views whichillustrate an example of relative movement of wand controls andconsequent movement of a tool relative to a bolt.

FIGS. 15 and 16 are cross-sectional, perspective views which illustratean example of tools with adjustable extensions, which can retract inorder to compensate for a rising and falling surface in accordance withan example embodiment of an aspect of the present invention.

FIG. 17 is a cross-sectional, perspective view of a camera tool whichillustrates the effect of spacing of neighboring projected dots on asurface at two stages of movement. The separations, along with knowninformation: the angles of the beams, relative to the tool and theposition of a camera tool provide a computer with a description of thechanging position of the surface at each point in time.

FIG. 18 is a perspective view detail of a distal end of the camera toolof FIG. 17 projecting beams at various predetermined angles, relative tothe tool.

FIG. 19 is a cross-sectional, block diagram of an example passive hapticfeedback device in which the flow of an electro-rheological ormagneto-rheological fluid is controlled by an electrical or magneticfield between elements, which can be electrodes or magnetic coils inaccordance with an embodiment of an aspect of the present invention.

FIG. 20 is a cross-sectional, block view of an alternate embodiment of apassive haptic feedback device in which the flow of fluid, such assaline or glycerin is controlled by an electrical valve.

FIG. 21 is a cross-sectional, perspective view of the operator's view ofa worksite as viewed through an example embodiment of a viewer witheyepieces, illustrating superimposed tool cursors of the operator'sintended position of tools at the worksite, and the actual position ofthe tools at the worksite.

FIG. 22 is a cross-sectional, perspective view of an example wandattached to any body part, tool, or other object, by means ofconnectors, which have complementary indexing means, to ensure theirproper alignment.

FIG. 23 is a cross-sectional, perspective view of two wands that can bealigned in a desired manner, or be placed in a desired orientation orposition with respect to each other or another object. In this example adrill is positioned so that it can drill through a hidden hole.

FIG. 24 is a cross-sectional, perspective view of one wand, and sensorarray assembly (an example detector) which can be aligned in a desiredmanner, or be placed in a desired orientation or position with respectto each other or another object. In this example a drill is positionedso that it can drill through a hidden hole. A sensor array replaces theemitter housing in the sensor array assembly but the assembly isotherwise similar in construction to a wand. The sensor arraycommunicates with a controller/encoder through communicating means andthence wirelessly to a computer.

FIG. 25 is a cross-sectional, perspective view of two combination wandand sensor array assemblies 47 which have been daisy chained with twoother combination units (not shown and in combination with a sensorarray 1.

FIG. 26 is a graphic illustration of a screen plane (surface of a firstobject) and device planes with mounted lasers (second object) andrelated coordinate systems.

FIG. 27 is a graphic illustration of a linear translation betweencoordinate systems of FIG. 26.

FIG. 28 is a graphic illustration of a rotational translation betweencoordinate systems of FIG. 26.

FIGS. 29a to 29e are partial, sectional, perspective views of theoperating theatre and remote work site, which illustrate methods toreduce or eliminate operational latency of the system.

DETAILED DESCRIPTION

An object location, sometimes referred to as position, and orientation,sometimes referred to as attitude, will together be called the “pose” ofthe object, where it is understood that the orientation of a point isarbitrary and that the orientation of a line or a plane or other specialgeometrical objects may be specified with only two, rather than theusual three, orientation parameters.

A pose can have many spatial parameters, referred to herein asparameters. As described above, such parameters may include the locationand orientation of the object. Parameters may include locationinformation in one, two or three dimensions. Pose location parametersmay also be described in terms of vectors, providing a direction and adistance. Pose orientation parameters may be defined in terms of an axisof the object, for example, the skew (rotation about the axis), rotation(rotation of the axis about an intersection of the axis and a linenormal to a plane), and tilt (rotation of the axis about an intersectionof the axis and a line parallel to the plane). Other pose orientationparameters are sometimes referred to as roll, pitch and yaw.

It will be evident to those skilled in the art that there are manypossible parameters to a pose, and many possible methods of derivingpose information. Some parameters will contain redundant informationbetween parameters of the pose. The principles described herein includeall manner of deriving pose information from the geometric configurationof detector and surface described herein, and are not limited to thespecific pose parameters described herein.

Pose parameters may be relative to an object (such as a surface), orsome other reference. Pose parameters may be indirectly derived, forexample a pose relative to a first object may be derived from a poserelative to a second object and a known relationship between the firstobject and second object. Pose parameters may be relative in time, forexample a change in the pose of an object resulting from motion overtime may itself by a pose element without determining the original poseelement.

The description provided herein is made with respect to exemplaryembodiments. For brevity, some features and functions will be describedwith respect to some embodiments while other features and functions willbe described with respect to other embodiments. All features andfunctions may be exchanged between embodiments as the context permits,and the use of individual features and functions is not limited by thedescription to the specific embodiments with which the features andfunctions are described herein. Similarly, the description of certainfeatures and functions with respect to a given embodiment does not limitthat embodiment to requiring each of the specific features and functionsdescribed with respect to that embodiment.

In this description one or more computers are referenced. It is to beunderstood that such computers comprise some form of processor andmemory, which may or may not be integrated in a single integratedcircuit. The processor may be provided by multiple CPUs which may beintegrated on a single integrated circuit as is becoming more and morecommon, or a single CPU. Dedicated processors may be utilized forspecific types of processing, for example, those that are mathematicallycomputationally intensive. The functions of the computer may beperformed in a single computer or may be distributed on multiplecomputers connected directly, through a local area network (LAN) oracross a wide area network (WAN) such as the Internet. Distributedcomputers may be in a single location or in multiple locations.Distributed computers may be located close to external devices thatutilize their output or provide their input in order to reducetransmission times for large amounts of data, for example image data maybe processed in a computer at the location where such data is produced,rather than transmitting entire image files, lesser amounts ofpost-processed data may be transmitted where it is required.

The processing may be executed in accordance with computer software(computer program instructions) located in the memory to perform thevarious functions described herein, including for example variouscalculations and the reception and transmission of inputs and outputs ofthe processor. Such software is stored in memory for use by theprocessor. Typically, the memory that is directly accessible to theprocessor will be read only memory (ROM) or random access memory (RAM)or some other form of fast access memory. Such software, or portionsthereof, may also be stored in longer term memory for transfer to thefast access memory. Longer term storage may include for example a harddisk, CD-ROM in a CD-ROM drive, DVD in a DVD drive, or other computerreadable medium.

The content of such software may take many forms while carrying out thefeatures and functions described herein and variants thereof as will beevident to those skilled in the art based on the principles describedherein.

Patterns include for example the spots emitted from the emittersdescribed herein. Patterns also include other examples provided hereinsuch as ellipses and other curves. It may also include asymmetricalpatterns such as bar codes. Actively generating a pattern includes forexample a pattern on a computer monitor (herein called a screen) orother display device. Actively generating a pattern may alternativelyinclude projecting the pattern onto a surface. A detector includes forexample a camera or a sensor array incorporating for example CCDdevices, and the like. Reference pattern data may include for examplethe location and direction of emitters, or other projectors.

Objects as used herein are physical objects, and the term is to beconstrued generally unless the context requires otherwise. Whenprojection or detection occurs at an object it is intended to includesuch projection or detection from objects fixedly connected to theinitial object and the projector or detector is considered to be part ofthe initial object.

Referring to the FIGS., like items will be referenced with the samereference numerals from FIG. to FIG., and the description of previouslyintroduced items will not be repeated, except to the extent required tounderstand the principle being discussed. Further, similar, although notidentical, items may be referenced with the same initial referencenumeral and a distinguishing alphabetic suffix, possibly followed by anumerical suffix.

In some aspects embodiments described herein provide a solid stateoperator interface which accurately reports the movements of the workingend of an operator's faux instruments, which are then accuratelyreported to the working end of the robot's tools. In the case of asurgical robot, the operator (surgeon) manipulates instruments similarto those the surgeon would normally use, such as a tubular wand, for ascalpel and an instrument that would be similar in shape to forceps.This approach reduces the training that is required to become adept atusing a robotic system, and also avoids the deterioration of learnedskills learned in the hands-on operating procedures.

In some aspects embodiments described herein provide an operatorinterface that permits an input device, and the hands of the operator,to move in a larger space, which would eliminate or reduce the occasionsin which the system requires resetting a center point of operatorinterface movements.

In some aspects embodiments described herein provide an interface whichallows for fine coordinated movements by input device, and by bothhands, such as when the surgeon attaches a donor and recipient vesselswith sutures.

In some aspects embodiments described herein provide an interface thatmay include haptic feedback.

In some aspects, embodiments described herein provide an interfacesystem that can position the tools at any point in time so thatnon-operationally created motions are fully compensated for, and arelatively small patch of surface, where the procedure is being carriedout, is rendered virtually static to the operator's point of view.

In some aspects, embodiments described herein provide a method forvirtually limiting latency, during the operation. In some other aspects,embodiments described herein provide a method for alerting an operatorto the existence and extent of latency during the operation.

Referring to FIG. 1, an operator's hand 6 controls the motion of thewand 2 within a sensor array I, comprised of five rectangular segmentsforming an open-sided box. Narrow light beams 4 emanate from alight-emitting cluster 3 and project spots of light 5 on the lightsensors of the sensor array 1.

Referring to FIG. 2, the box sensor array 1 of FIG. 1 is replaced by abuckyball-shaped sensor array 1 a, comprised of hexagonal and pentagonalsegments, and an opening 7, which permits the wand 2 to be inserted intothe sensor array Ia.

Referring to FIG. 3, a system, includes the sensor array 1 andtransmission means 11 a that deliver signals from the segments of thesensor array 1 at interface pads 11 b to computer 11. A threedimensional viewer 8 includes superimposed force feedback information 10b, 10 c, as shown in detail 10 a on top of the three dimensional imageof the work space.

Referring to FIG. 4 and FIG. 5, two examples are shown of the forcefeedback information 10 d, 10 e, 10 f and 10 g, which may be used insubstitution or in addition to haptic feedback.

Referring to FIG. 6, various elements of a robotic control system areshown. FIG. 6 illustrates an example where a body 14 is being operatedon through an incision 14 a. The robot in this case is fitted with atool controller 15 and example tools: forceps 15 b, three dimensionalcamera 15 c and cauterizing scalpel 15 d. The robot's principalactuators 15 a control the various movements of the tools in response tothe positions of the wands 2 including the goose-neck camera guidingwand 13, and commands of the operator.

Referring to FIG. 6a , an example of a user interface using a singlepanel to form the sensor array 1 is shown.

Referring to FIG. 6a 1, a user interface is shown that is similar tothat illustrated in FIG. 6a , except that the sensor array Ib iscomprised of two panels at an angle relative to each other, which isknown to the computer 11.

Referring to FIG. 6a 2, an interface is shown that is similar to thatillustrated in FIG. 6a , except that the camera 3 c is located in astationary position above the surface 1 b, such that it can view thespots of light 5 projected onto the surface and their position on thesurface, but at an angle which minimizes or eliminates interference bythe wand 2 with the emitted beams 4. The camera 3 c is connected to thecomputer 11 by connecting means 3 bI.

Referring to FIG. 6b , a user interface is shown in which a lens 3 c isincluded and which tracks the spots of light 5 projected onto a surface1 b, which may not contain sensors, and transmits the informationwirelessly to the controller/encoder 18 and/or the computer 11.

Referring to FIG. 6c , a faux forceps wand 2 b is shown that includes alens 3 c.

Referring to FIG. 7, a generally cylindrical wand 2 is shown thatincludes a rechargeable battery 17 and a controller/encoder 18, variousexample controls 19, 20, 20 a, and a light emitter cluster 3, whichhouses light emitters 3 a.

Referring to FIG. 8, the faux forceps wand 2 b is shown that has fingerholes 21, return spring 21 a and sensor/haptic feedback controller 21 b.

Referring to FIG. 8a , the wand 2 is shown similar to FIG. 7, butinstead of multiple fixed emitters 3 a, there is one emitter 3 a, thebeam 4 of which is redirected by a mirror 3 d or other beam redirectingdevice. FIG. 8a also illustrates the wand 2 with a camera 3 c.

Referring to FIG. 8b , shown is a cross-sectional, perspective view ofthe distal end of wand 2, illustrating in greater detail emitter 3 a andbeam 4, part of which is redirected by mirror 3 d 1, in some embodimentsbeing one of an array of mirrors 3 e.

Referring to FIG. 8c , shown is a cross-sectional, perspective view ofthe distal end of wand 2, illustrating in greater detail the emitter 3a, beam 4, part of which is redirected by mirrors 3 d 2 and 3 d 3. FIG.8c also illustrates an alternative location for camera 3 c, in this casebeing located at the distal end of the mirror array 3 e.

Referring to FIG. 8d , a surface Ib has an addressing grid 1 c overlain.For diagrammatical clarity, only parts of the grid have beenillustrated, it being understood that the grid 1 c is continuous overthe surface Ib.

Referring to FIG. 9, the faux forceps wand 2 b includes a finger slidercontrol 19 a and sensor and/or haptic feedback device I9 c.

Referring to FIG. 10, an operator viewer 8 has force feedbackinformation 10 as illustrated in detail 10 a, and also illustrated inFIG. 3. Tool icons 10 h represent available tools. In this example, theoperator has selected a forceps icon 26 b for the left hand and a wrenchtool icon 27 b for the right hand. As an example, the respectiveselected tool is indicated by the icon being bolded.

Referring to FIG. 11, example relative movement of the wand 2 b controlsis shown, including a finger hole control 21, and the finger slidercontrol 19 a, (See FIG. 9), and the consequent movement of a tool 26(See FIG. 11).

Referring to FIGS. 12, 13 and 14, example of relative movement of thewand 2 b controls is shown, including a finger hole control 21, thefinger slider control 19 a, a rotary control 20 and the consequentmovement of a tool 27 relative to a bolt 29.

Referring to FIGS. 15 and 16, example tools 15 b, 15 c and 15 d haverespective adjustable extensions 15 b 1, 15 cI and I5 dI which canretract 15 b 2, I5 c 2 and I5 d 2 in order to compensate for rising andfalling of a surface, for example a heart surface I4 dI, 14 d 2.

Referring to FIG. 17, camera tool 15 c views the effect of the spacingof neighboring projected dots/spots of light 5 on the surface of theheart 14 dI, 14 d 2, at two stages in the heart's beat. The separations,along with known information: the angles of the beams 4, relative to thetool 15 c and the position of the camera tool 15 c, provide computer 11with a description of the changing position of the heart surface at eachpoint in time. It also illustrates one example position of cameras, orcamera lenses 3 cI and 3 c 2.

Referring to FIG. 18, distal end of the camera tool 15 c is shown indetail. The emitter cluster 3 and emitters 3 a project beams 4 atvarious predetermined angles, relative to the tool 15 c.

Referring to FIG. 19, an example passive haptic feedback device has flowof an electrorheological or magnetorheological fluid controlled by anelectrical or magnetic field between elements 36, which can beelectrodes or magnetic coils. The control of the flow of this fluidaffects the speed with which piston 31 a can move back and forth throughthe cylinder 31.

Referring to FIG. 20, the example passive haptic feedback device has aflow of fluid, such as saline or glycerin, controlled by an electricalvalve 37. The control of the flow of this fluid affects the speed withwhich piston 3 la can move back and forth through the cylinder 31.

Referring to FIG. 21, an operator's view of the worksite (a remoteprocess) seen through the viewer' 8 and eyepieces 9 has superimposedtool cursors 15 d 3 and I5 b 3 that illustrate the operator's intendedposition of the tools at the worksite. Respective actual positions ofthe tools I5 d 2 and I5 b 2 at the worksite are also shown in the viewer8 to display to the operator the difference between the two due totemporal latency.

Referring to FIG. 22, the wand 2 b may be attached to any body part,tool I5 d 2 I5 c 2, or other object, by means of connectors 42 and 42 a,that have complementary indexing means 42 c and 42 b, to ensure theirproper alignment. Where an external camera 3 c, such as illustrated inFIG. 6a 2, or a sensor array 1, as illustrated in FIG. 23, is provided,the wand 2 b may then not have an integral camera 3 c.

Referring to FIG. 23, two wands 2 i and 2 ii (similar to wand 2 b shownin FIG. 22) can be aligned in a desired manner, or be placed in adesired orientation or position with respect to each other or anotherobject. In this example a drill 44 is positioned so that it can drillthrough a hidden hole 46.

Referring to FIG. 24, a sensor array assembly 1 d replaces wand 2 ii andthe wand 2 i and sensor array assembly 1 d can be aligned in a desiredmanner, or be placed in a desired orientation or pose with respect toeach other or another object. In this example the drill 44 is posed sothat it can drill through the hidden hole 46. The sensor array 1replaces the emitter housing 3 but is otherwise similar in constructionto the wand 2. The sensor array 1 communicates with thecontroller/encoder 18 by communicating means 11 a and thence wirelesslyto computer 11 (not shown).

Some general elements of embodiments of some aspects of the presentinvention will now be discussed.

One embodiment is a system which accurately records the motions of theworking end of an operator's faux instruments, herein referred to as awand, which can approximate the shape of the devices the operator woulduse in a manual procedure. These motions are reported to the working endof the tools that the robot applies to the work site.

Other embodiments simply use the wand as an input device and its shapemay not in any way relate to a particular instrument. For clarity, thisdisclosure will use a surgical interface to illuminate some convenientfeatures of the invention, but for some embodiments the shape of thewand may not in any way mimic standard tools or instruments. It shouldalso be noted that reference is made to a system controlling roboticallycontrolled tools. It should be understood that some embodiments willcontrol actuators that perform all types of work, such as controllingreaction devices, such as rocket motors or jet engines; the position ofwing control surfaces, to name a few. The system may control virtualcomputer generated objects that are visually displayed or remainresident within the computer and where actuators may not even be used.Embodiments of this type would include manipulation of models ofmolecular structures (molecular modeling) and manipulation of proteinstructures. In such embodiments the wand may be thought of as a computermouse in three dimensions, for example allowing the operator to view athree dimensional image of a structure, and then to make alterations toit, by moving the wand and making control commands, for example in thespace in front of a sensor array. Such an embodiment of the wand andmethod could be used in architecture, machine design or movie animation.It will be recognized by those skilled in the art that these areexamples only of uses of such embodiments and the embodiments are notlimited to these examples.

In some described embodiments wands 2 incorporate light-emittingelements 3 a that collectively cast multiple narrow beams of light, atknown angles to each other, onto a sensor array 1 constructed of one ormore light detecting panel(s) as illustrated on FIG. 3. The lightdetecting panel(s) reports the location of the incident light, inreal-time, to a computer. Knowing the angles at which the emitters 3 aproject the light beams from the wand 2, the computer can convertvarious locations of incident spot of light 5 of the light beams 4,using triangulation and mathematical methods and algorithms, well knownto the art, to calculate the position and attitude of the wand 2relative to the sensor array 1, at each particular time interval. As thewand 2 moves, so do the spots of incident light 5 on the sensor array(s)1, and so the computer can produce a running calculation of the positionand attitude (example parameters of the pose) of the wand 2, from timeto time. The computer can convert changes in parameters of the pose intoinstructions to the robot to assume relative motions. Small changes inthe position and attitude of the wand can trace relatively largepositional changes where the spots of light 5 fall on the sensor arrayI. This can allow for accurate determining of the position and attitudeof the wand.

Mathematical calculations that may be used to determine parameters of apose of the wand and other parameters of pose described herein have beendeveloped, for example, in the field of photogrammetry, which provides acollection of methods for determining the position and orientation ofcameras and range sensors in a scene and relating camera positions andrange measurements to scene coordinates.

In general there are four orientation problems:

A) Absolute Orientation Problem

To solve this problem one can determine, for example, the transformationbetween two coordinate systems or the position and orientation of arange sensors in an absolute coordinate system from the coordinates ofcalibration points. This can be done by recovery of a rigid bodytransformation between two coordinate systems. One application is todetermine the relationship between a depth measuring device, such as arange camera or binocular stereo system, and the absolute coordinatesystem.

In the case of range camera, the input is at least a set of fourconjugate pairs from one camera and absolute coordinates. In the case ofa binocular stereo system, input is at least three conjugate pairs seenfrom the left and right camera.

B) Relative Orientation Problem

To solve this problem one can determine, for example, the relativeposition and orientation between two cameras from projections ofcalibration points in the scene. This is used to calibrate a pair ofcameras for obtaining depth measurements with binoculars stereo.

Given n calibration points, there are 12+2n unknowns and 7+3nconstraints.

At least 5 conjugate pairs are needed for a solution.

C) Exterior Orientation Problem

To solve this problem one can determine, for example, the position andorientation of a camera in an absolute coordinate system from theprojections of calibration points in a scene. This problem must besolved for an image analysis application when necessary to relate imagemeasurements to the geometry of the scene. This can be applied to aproblem of position and orientation of a bundle of rays.

D) Interior Orientation Problem

To solve this problem one can determine, for example, the internalgeometry of a camera, including camera constants, location of theprincipal point and corrections for lens distortions.

Some examples of these problems and their solutions are found in RameshJain, Rangachar Kasturi and Brian G. Schunck, Machine Vision,McGraw-Hill, New York, 1995. ISBN 0-07-032018-7. Chapter 12 onCalibration deals in particular with an absolute orientation problemwith scale change and binocular stereo, and with camera calibrationproblems and solutions which correlate the image pixels locations topoints in space. Camera problem includes both exterior and interiorproblems.

In addition to calibration problems and solutions, the Jain et alreference addresses an example problem and solution for extractingdistance or depth of various points in the scene relative to theposition of a camera by direct and indirect methods. As an example,depth information can be obtained directly from intensity of a pair ofimages using two cameras displaced from each other by a known distanceand known focal length. As an alternative example solution, two or moreimages taken from a moving camera can also be used to compute depthinformation. In addition to those direct methods 3D information can alsobe estimated indirectly from 2D intensity images known as “Shape from XTechnique”, where X denotes image cues such as shading, texture, focusor motion. Examples are discussed in Chapter 11 in particular.

The above Jain et al. reference is hereby incorporated by reference intothe detailed description hereof.

As a further example discussion of solutions to mathematicalcalculations that may be used to determine parameters of a pose of thewand for the purposes of determining 3D-position of a hand-held deviceequipped with laser pointers through a 2D-image analysis of laser pointprojections onto a screen, two sets of coordinate systems can be definedas shown in FIG. 26. The centre of a first coordinate system (xS,yS,zS)can be placed in the middle of the plane that coincides with the screen(projection) plane and is considered to be fixed. The lasers installedon the hand-held device can be described with a set of lines in a secondcoordinate system (xD,yD,zD) which origin agrees with an intersection ofthe laser pointers. Additionally, the second coordinate system can havea freedom of translation and rotation as shown in FIGS. 27 and 28.Translation and rotation coordinates such as those shown in FIGS. 27 and28 can also be found in linear algebra book such as Howard Anton, JohnWiley & Sons, 4th edition ISBN 0-47I-09890-6; Section 4.10, at pp. 199to 220.

The projection of the laser on the fixed plane is mathematicallyequivalent to finding the intersection between the plane equation zS=0and the line equation describing the laser path. However, the lineequations have to be transformed in the original coordinate system.There are many ways to define an arbitrary rotation and translation ofone coordinate frame into another. One of the ways is via the transformmatrix elements.

Tables 1 and 2 shows the coordinate transforms of the point P from onecoordinate system to the other as a result of the linear transpositionand rotation.

TABLE 1 Linear translation x = x* + a1 y = y* + a2 z = z* + a3

TABLE 2 Rotational transformation and definition of a_(ik) coefficientsa_(ik) k = 1 k = 2 k = 3 x = a₁₁x* + a₁₂y* + a₁₃z* i = 1 Cosψcosχcosψsinχ sinψ x = a₂₁x* + a₂₂y* + a₂₃z* i = 2 cosφsinχ + sinφsinψ cosφcosχ − sinφ sinψ −sinφcosψ x = a₃₁x* + a₃₂y* + a₃₃z* cosχ sin χ i = 3sinφ sinχ − cosφ sinψ sinφcosχ + cosφ cosφcosψ cosχ sinψsinχ

Table 3 is a summary of example laser property and image analysisrequirements for the reconstruction of the translation or rotation ofthe hand held device based on the observations of movement of theprojection point as set out above. For the purpose of this discussion,multiple lasers are equivalent to a single laser split into multiplespot beams.

TABLE 3 # of Translation Rotation laser x y z Along z Along x Along y 1

Requires a light Possible with the off Not detectable for a narrowsource with a large set sensor and path laser beam. It would bedispersion angle. reconstruction from a interpreted as the Requires edgeminimum 3 frames for translation. In the case of a detection and arealarge angles. However, dispersed beam, requires or perimeter not verysensitive for edge detection and shape calculations. small rotationalangles. reconstruction. 2

Problem with detection It would be interpreted as Requires non ofleft-right laser the translation in the case of parallel laserequivalent to 180° horizontal or vertical beams and rotation. Requiresalignments. For misaligned distance marking of one of the lasers, notvery sensitive calibration. lasers. Still requires and requires thedistance path reconstruction via calculation and calibration. framehistory. 3

Requires marking of Requires area or perimeter With non one of thelasers. calibration/calculation. parallel laser beams. 4 or Can provideadditional information to potentially avoid singularities orambiguities. more

Additional image frames can be used to change the number of lasers, orspots used at any one time. The linear transposition in the x and ydirection can be reconstructed from the center of mass. The translationalong the z axis can utilize a calibration of the area/perimeter of thetriangle. Detection of the rotation around z-axis can be achieved withmarking of one of the lasers or by asymmetrical placement of lasers.Whereby, the marking of the laser may result in the faster processingtime compared to the second option which requires the additional imageprocessing in order to find the relative position of the triangle. Themarking of the laser can be achieved, for example, by having one laserof larger power which would translate in the pixel intensity saturationof the projection point.

With respect to the image processing time, it may be preferable to limitthe area of the laser projection, for example to a 3 by 3 pixel array.Once, the first laser point has been detected, a search algorithm forthe rest of the laser points could be limited to the smaller imagematrix, based on the definition of allowable movements.

Other illustrative examples of mathematical calculations that may beused to determine parameters of a pose of the wand and other parametersof pose described herein are included for example in B. K. P. Horn.Robot Vision. McGraw-Hill, New York, 1986; U.S. patent application ofFahraeus filed Mar. 21, 2001 under application Ser. No. 09/812,902 andpublished in Pub. No. US2002/0048404 on Pub. Date: Apr. 25, 2002 undertitle APPARATUS AND METHOD FOR DETERMINING SPATIAL ORIENTATION whichdiscusses among other things determining the spatial relationshipbetween a surface having a predetermined pattern and an apparatus; inU.S. patent of Zhang et al. issued Apr. 4, 2006 under title APPARATUSAND METHOD FOR DETERMINING ORIENTATION PARAMETERS OF AN ELONGATE OBJECT;Marc Erich Latoschik, Elmar Bomberg, Augmenting a Laser Pointer with aDiffraction Grating for Monoscopic 6DOF Detection, Journal of VirtualReality and Broadcasting, Volume 4 (2006), no. 14, urn:nbn:de:0009-6-I2754, ISSN 1860-2037 http://www.jvrb.org/4.2007/1275;Eric Woods (HIT Lab NZ), Paul Mason (Lincoln University, New Zealand),Mark Billinghurst (HIT Lab NZ) MagicMouse: an Inexpensive6-Degree-of˜Freedorn Mouse http://citeseer.ist.psu.edu/706368.html;Kynan Eng, A Miniature, One-Handed 3D Motion Controller, Institute ofNeuroinformatics, University of Zurich and ETH Zurich,Winterthurerstrasse 190, CH-8057 Zurich, Switzerlandhttp://www.ini.ethz.cI1/˜kynan/publications/Eng-3DController-ForDistribution-2007.pdf.The content of each of the above references cited above in thisparagraph is hereby incorporated by reference into the detaileddescription hereof.

Rather than using a sensor array to detect the incident spots of light 5of the beams 4, a camera above a passive surface Ib, as illustrated inFIG. 6a 2 may similarly detect the position of the incident spots oflight 5 on surface 1 and make the same calculations described above todetermine the position and attitude of the wand 2. Alternatively, acamera 3 c may be incorporated into the wand 2 to detect where the spotsof light fall on the surface Ib, as illustrated on FIG. 6a I.

With reference to FIG. 6, since the space in front of the sensorarray(s) may be different from the space that the robot operates in, theoperator may reset or, as is usually the case, center the wands 2 infront of the sensor array 1, to coordinate the wand's position with thatof the working end of the robotic arms 15 b, 15 c and 15 d, for the nextwork sequence. Additionally, the travel distances, while relatively thesame, between the wands 2 and the working end of the robot arms 15 b, 15c, 15 d, may differ. For example, where accuracy is critical, the wand 2may be set to move relatively long distances, to effect a relativelyshort displacement at the working end of the robotic arms 15 b, 15 c, 15d. Conversely, where accuracy is not important and quicker movements,over larger distances are desired, the computer can be instructed totranslate short length movements of the wand 2 into relatively largedistances of travel at the working end of the robotic arms 15 b, 15 c,15 d. This relationship can be changed by the operator, at any time, bymoving a control on the wand 2 or controls 11 e on a console 11 d. Thesemethods of computer control are well known to the art and embodiments ofthe invention that incorporate such controls are within the ambit of theinvention.

The relative attitude of the sensor array 1 to the attitude of the robotarm work space 14 b can also be set, which is usually at thecommencement of the work, although it may be changed during theoperation. For example, the vertical line in the sensor array 1 willusually be set to be the vertical line in the work space 14 b, so thatwhen the wand 2 is raised up vertically in front of the sensor array(s)1, the robot will produce a vertical motion at the working end 15 b, 15c, 15 d of the robotic arm. This however may be changed by the operatorvarying the settings of the vertical and/or horizontal plane at theconsole 11 d or in some other embodiments in the wand 2.

Similarly the longitudinal axis of the wand 2 is generally set as thesame as the longitudinal axis of the working end of the robot's arms 15b, 15 c, 15 d, although this too can be altered by controls at theconsole and in some other embodiments in the wand itself.

At the start or reset times, the position and attitude of the wand 2 canbe translated to be the same as the position of the working end of therobot arms 15 b, 15 c, 15 d; the motions thereafter, until the nextreset, can be relative. This allows the operator to change theoperator's start or reset position and attitude of the wand to make itmore comfortable to execute the next set of procedures, or providesufficient room for the next set of procedures, in front of the sensorarray 1, as referred to above.

The movement of the wands will then control the movement of the tools towhich they are assigned by the operator. Finer movements and movementsthat require haptic feedback can be effected by controls on the wands 2b, such as the finger hole control 21, the rotary control 20, 20 a andthe finger slider control 19 b, illustrated on FIG. 6c . Switches on thewand or on the console can turn off the active control of the tools bythe movement of the wand(s), but may turn on or leave on the activecontrol of the tools by the controls on the wand to prevent inadvertentjiggling or wander while critical and/or fine work is being conducted bythe operator. On other occasions the operator may wish to manipulate thewand 2 position simultaneously with moving the controls 20, 20 a and 19b or other controls which that preferred embodiment might include.

The sensor array 1 may be made of one or more sheets or panels of lightsensor arrays, in which each pixel of the sensor array 1 can communicatethe fact that the spot of light 5 has or has not fallen on that pixel tothe computer, and identify which light beam 4 and from which wand 2, itoriginated. When integrated by the computer 11 with other inputs fromother locations, this information can identify the location and attitudeof the wand 2, by triangulation, mathematic methods and computeralgorithms, well known to the art.

In some embodiments the color of the incident light, and/or theaddressable pulse frequency of the light that is detected, identifieswhich particular light beam and wand has cast the light so incident. Forexample, in some embodiments a wand may have several light-emittingelements, such as a laser, diode laser or light-emitting diode, eachhaving a different light wave length (or color), which can be identifiedand distinguished by the sensor array 1 (in combination with thecomputer). In other embodiments, the light emitter 3 a is modulated orpulsed to give it a unique pulse address, which when its beam 4 isdetected by the sensor array I, which with the computer identifies theparticular light beam 4, wand 2 and location and attitude of the same.Other embodiments may take advantage of the relative unique patterns ofbeams 4 emitted from each wand 2 to identify the wand 2 and perhaps theparticular beam 4 from that said wand. Other embodiments can include acombination of these methods, or other similar beam identificationmethods, well known to the art. It can be desirable to provideadditional light emitters 3 a to provide redundancy, in the event one ormore of the beams does not strike a sensor. For example, in someembodiments an axial reference beam 4 may be directed straight along thelongitudinal axis of the wand 2.

One or more of the light beams 4 may be modulated so as to provideinformation as to the wand 2 identity, and its mode of operation. Forexample, it might convey information as to the desired heat setting andoff/on state of the cauterizing scalpel, or the forceps claspingposition, as set by the wand's operator. It might also indicate therotation of a particular tool. These are only examples of theinformation that may be selected by the operator, on the wand controls,and then conveyed to the sensor array 1, and hence to the computer tocontrol the robotic arms. Embodiments can include all other convenientinstructions and inputs, and all are included within the ambit of theembodiments described herein. This method of conveying instructions maybe handled by a dedicated light emitting element 3 a, or be bundled intoone or more of the light emitting elements 3 a that are used todetermine the position and attitude of the wand 2. This method ofconveying instructions and status information from the wand may be inaddition to wireless communications 16, 16 a means embedded in the wand,or in place of it.

The pulses of light from the light-emitting elements 3 a from cluster 3of the wands, may be synchronized such that spots of light 5 of the beam3 fall on the sensor array 1 at discrete times so as to avoidconflicting signals in those architectures that do not have directconnections between the sensor elements and drivers, such as active orpassive matrix. In other embodiments, redundant beams are sufficient toresolve any signal interference and software means such as pathprediction algorithms can be used to resolve any such conflicts. Thebeams in most cases will fall on more than one and in most cases manypixels in the sensor array, which will improve reliability, at theexpense of resolution, and may also be used to distinguish between twobeams that strike approximately the same pixels group.

There are many methods of constructing a light sensor array 1, wellknown to the art, and includes thin film transistor (TFT) arrays inwhich there may be included color filter arrays or layers, to determinethe color of the incident light and report the location to the computerby direct and discreet connection, or more often, by way of a passive oractive connection matrix. These active matrixes or AMTFT's architecturescan be used in some embodiments. Recently, Polymer TFT's sensor arraysare being made which substantially reduce the cost of such sensorarrays. These less expensive arrays will mean that the sensor array(s) 1can be made much larger. An example of a Polymer TFT, is described by F.Lemmi, M. Mulato, J. Ho, R. Lau, J. P. Lu, and R. A. Street,Two-Dimensional Amorphous Silicon Color Sensor Array, Xerox PARC, UnitedStates, Proceedings of the Materials Research. Society, 506 KeystoneDrive, Warrendale, Pa., 15086-7573, U.S.A. It is understood that anyconvenient light sensor array may be used, including any futuredevelopment in light sensor arrays, their architecture and composition,and such an embodiment is within the ambit of the embodiments describedherein.

In some embodiments, the sensor array pixels may be combined with lightemitting elements, forming a superimposed sensor array and a lightemitting array. In these embodiments an image of the working end of therobot arms 15 b, 15 c, 15 d and work sight can be formed on the sensorarray 1, and the operator can at the same time view the wand(s) 2 thatare initiating the motion of the working end of the robot's arms 15 b,15 c, 15 d. This embodiment is most effective if the image is generatedas a three dimensional image, although this is not required. Methods forcreating a three dimensional effect are well known to the art andinclude synchronous liquid crystal glasses and alternating left eye,right eye, image generation and single pane three dimensional arrays. Itis to be understood that the embodiments described herein includes allthese methods and future three dimensional image generation methods.

Other embodiments may use an additional camera aimed at the operator'shands and wands, and append the image to that of the worksite that isviewed in the operator viewer 8. This appended image may be turned onand off by the operator.

In those preferred embodiments that use a surface Ib, and camera 3 c, inplace of the sensor array 1, as illustrated in FIG. 6c , the wand 2 boperates partly as a laser or optical mouse, that is, detecting movementby comparing images acquired by the lens of part(s) of the surface Ib.In some preferred embodiments images of spot(s) 5 can be detected by thesaid lens 3 c, noting both their texture or image qualities, and theirpositions relative to other spot(s) 5. Since the relative angle of theprojected beams 4 are known, the computer 11 and/or controller/encoder18, can process this information to determine the three dimensionalposition of the wand 2 b relative to the surface Ib, for example byusing both methods used by optical/laser mice and mathematical methodsincluding trigonometry, well known to the art. As an example, movementof the wand 2 b on planes parallel to the surface Ib, can be determinedby methods used by optical/laser mice, which are well known to the art;and the height and attitude of the wand in three dimensional space canbe determined by the lens 3 c detecting the relative position of thespots 5 projected onto the surface Ib, and using triangulation andmathematical methods described above, which are also well known to theart. More particularly, the position of the wand 2 b in threedimensional space can then be computed by integrating these twoinformation streams to accurately establish both the lateral location ofthe wand 2 b and its height and attitude in space. Thus, not allparameters of the pose are determined utilizing the detected pattern ofthe spots on the surface; rather, some of the parameters are determinedutilizing the texture information (lateral location), while otherparameters are determined utilizing the detected pattern of spots(height and attitude).

In other embodiments, where there are two or more panels, that areplaced at relative angles known to the computer 11, such as thoseillustrated in FIG. 6a 1, the wands 2 may contain camera(s) 3 c whichare able detect the position of spots 5 on two or more panels. In thesearrangements, where the panels are surfaces Ib, the orientation andposition of the wand 2 may be determined for example as described aboveby mathematical methods, including trigonometry. For example, in anembodiment where the panels are arranged at right angles to each other(at 90 degrees), as illustrated in FIG. 6a I, and where the angles atwhich the light beams 4 trace relative to the longitudinal axis of thewand 2 are known, and where the relative positions of the projectedspots 5 which fall on both panels are recorded by the camera(s); theposition and orientation of the wand 2 in three dimensional space can bedirectly determined by mathematical methods, including trigonometry.

This information, for example, can then be used to control the tools 15b, 15 c, and 15 d, or control any process, virtual or real. It can bereadily appreciated that the wand 2 b, like the wand 2 can be any shapeand have any function required, for example having the shape of anoptical/laser mouse and pointing and directing processes in a similarmanner.

In this disclosure, references to wand 2, should be read as includingwand 2 b and vice versa, as the context permits. Similarly references tosensor array I should be read as including surface I and vice versa, asthe context permits.

Embodiments of the invention that incorporate a surface Ib, rather thana sensor array(s) I, pass information from buttons and hand controls,for example 19 a, 20 and 21, on the wand 2 b wirelessly or by directconnection, herein described, and by other methods well known to theart. The beams 4 may be encoded for maintaining identification of eachbeam and each spot 5; for example, the light emitting elements 3 a maybe pulsed at different frequencies and/or have different colors, whichthe lens 3 c may detect from the light reflected from the spots 5.Although, a wand 2 b, may resort exclusively to those methods used byoptical/laser mice, to determine its position in three dimensionalspace, without resort to detecting computing and integrating therelative positions of projected spots 5, the accuracy of such a systemwill be inferior to those that include those latter methods and thecomputational overhead will be greater as well. It is to be understoodthat some embodiments can rely solely on those methods used byoptical/laser mice, where accuracy is not as important.

In some embodiments, the surface Ib may be any suitable surfaceincluding those that contain textures and marks that are typically usedin association with optical/laser mice. The surface Ib may havereflectivity or surface characterizes, such that the reflected spots 5that are detected by the camera 3 c are within a known envelope and thusspots 5 that are off the surface 1 b, can be rejected in calculating theorientation of the wand 2 b, accompanied by a warning signal to theoperator.

The wands 2, 2 b may include resting feet that allow them to rest on thesurface 1, Ib, such that the beams 4 and spots 5 can be detected by thecamera 3 c, and such that the system can calibrate itself with a knownwand starting orientation, and if placed on a specific footprint,position; or sensor array I or the surface Ib may include an elevatedcradle 1 e, as illustrated on FIG. 6b to hold the wand 2 b in a fixedposition for the calibration routine. The number of light emittingelements, such as lasers or photo-diodes, will depend upon the accuracyand redundancy required.

The wand 2 may in some applications be stationary, or have an otherwiseknown position, and measure it's position relative to a moving surfaceor changing contours on a surface. The embodiments of the invention mayinclude such a wand 2 or be incorporated into a tool, such as those, 15b, 15 c, 15 d, illustrated in FIG. 15, FIG. 16 and FIG. 17, and be usedto compensate for motions, such as the beating of the heart 14 d 1, 14 d2.

Feedback of forces acting on the working end of the robotic arms 15 b,15 c, 15 d, may be detected by sensors on the robot arms, by means wellknown to the art and this real-time information may be conveyed to thecomputer which can regulate the haptic feedback devices and impartapproximately the same forces on the operator's fingers and hands and/orresist the movement of the operator's fingers and hands. These hapticfeedback devices, which are well known to the art, can, for example, beincorporated into the controls 19, 19 a, 20, 21 or other similarcontrols of the wand 2 or 2 b. These haptic feedback devices can beactive or passive and can impart force on the operator's fingers orhands (active), and/or resist the motion of the operator's fingers orhands (passive). Examples of passive haptic feedback devices areillustrated in FIGS. 19 and 20. FIG. 19 illustrates a passive hapticfeedback device in which the flow of an electro-rheological ormagneto-rheological fluid is controlled by an electrical or magneticfield. FIG. 20 illustrates a passive haptic feedback device in which theflow of fluid, such as saline or glycerin is controlled by anelectromechanical valve. Embodiments of this invention may incorporatehaptic feedback devices of any design known to the art, and all comewithin the ambit of the embodiments described herein.

These haptic feedback devices can for example be incorporated into thefinger hole 21 sensor/feedback controller 2. For example the fingerholes 21 of the wand that is a faux forceps, as illustrated in FIG. 9,can be provided with haptic feedback devices which provide pinchingfeedback forces to the operator's hands and which accurately simulatethe forces acting on the working end of the forceps tool 15 b on theworking end of the robotic arm. The position and motion of the mobilefinger hole 21 can be conveyed to the computer wirelessly, by beammodulation, as described above or by cable.

Similarly, the same faux forceps, illustrated in FIG. 9 can on somepreferred embodiments of the invention, include a haptic feedback devicein the finger slider sensor/haptic feedback device 19 c, which sensesthe movement of the finger slider 19 a, and which can move the forcepstool 15 b, back and forth in a direction parallel to the longitudinaldirection of the said tool 15 b. As the operator slides the fingerslider from 19 a position to 19 b, the operator feels the sameresistance that the tool 15 b senses when it pulls back tissue that itgrasps, in response to the pulling back of the said slider 19 a.

The faux forceps, illustrated in FIG. 9 can transform its function fromforceps to any other tool or instrument that is required. For examplethe same faux forceps, illustrated in FIG. 9 can act as a controller fora scalpel tool 15 d, a wrench 27 (illustrated in FIG. 13), or any othertool or instrument, in which the various controls 19, 19 a, 20, 21 ofthe wand are programmed to have different, but usually analogous,functions for each particular tool. The operator can select a particulartool by pressing a particular footswitch, a switch on the wand 2, orother switch location. All tools available and the selected tool may bepresented as icons on the operator viewer 8, through the threedimensional eyepieces 9, an example of which is illustrated in FIG. 10as detailed at 10 h. For example, the selected tool might be bolded asthe forceps icon 26 b is bolded for the left hand wand 2 in the detail10 h, while the wrench tool icon 27 b is bolded, for the right hand.Once selected, by the operator, the other various controls 19, 19 a, 20,21 and other controls, would be assigned to various analogous functions.The operator might call up on the viewer 8 a summary of which controlson the wand relate to what actions of the tools 15 b, 15 c, 15 d, orother applicable tools or actions. All icons may be switched off by theoperator to maximize his viewing area through the eyepieces 9.

Some embodiments also include means for reducing latency andaccommodating to the motion of the subject.

Further details of the embodiments will now be discussed with particularreference to the FIGS.

FIG. 1 illustrates the operator's hand 6 controlling the motion of thewand 2 within the sensor array I, comprised of five rectangularsegments, forming an open-sided box. FIG. 1 also illustrates the narrowlight beams 4 emanating from the light-emitting cluster 3, andprojecting spots of light 5 on the light sensors on the inside of thesensor array 1. The light-emitting elements 3 a, that comprise thelight-emitting cluster 3, are usually positioned such that the narrowbeams of light 4 that they emit form a unique pattern, so as to aid inidentifying the particular wand 2 that is being used. Variousembodiments contain various numbers of light-emitting elements,depending upon the accuracy required and whether dedicated informationcarrying beams are used. Any shape of sensor array 1 can be utilized,and those illustrated in FIG. 1, FIG. 2, FIG. 6a and FIG. 6a 1 are onlyintended to be examples of a large class of sensor array shapes, sizesand arrangements. The density of pixels or discrete sensors comprisingthe sensor array 1 will vary depending upon the use to which the robotis put.

FIG. 3 illustrates the three dimensional viewer 8 which includes twoeyepieces 9 and feedback information 10 which is superimposed on theimage of the work area. As illustrated in FIG. 4 and FIG. 5 the size andorientation of the vectors 10 d and 10 f, and the numerical force unitI0 e and 10 g can be computer generated to graphically report thechanging forces acting on the working end of the robot's tool thatcorresponds to the wand that is being manipulated. In some embodiments,these vectors are three dimensional views, such that the vector positionwill correspond with the forces acting on the three dimensional view ofthe instruments, viewed through the viewer 8. The viewer 8 maysuperimpose feedback information on additional wands on top of the threedimensional view of the work area. These superimposed views may ofcourse be resized, repositioned, turned on and off by the operator. Theview of the work area is captured by a three dimensional camera 15 c, asillustrated in FIG. 6, which transmits the image information alongtransmitting means 11 c to the computer 11 and viewer 8. The position ofthe camera, like that of any robot tool may be controlled by a separatewand 13, such as that illustrated in FIG. 6, or be controlled by amulti-purpose wand, which changes its function and the tool it controls,by a mode selecting control such as through rotary control 20, which isincorporated into the wand 2, as illustrated in FIG. 7. The camera mayalso be programmed to keep both tools 15 b and 15 d in a single view, orselected tools in a single view. This automatic mode may be turned on oroff by the operator, who may then select a wand controlling mode. Thefeedback reporting means may be presented in many ways and thatdescribed is meant to be an example of similar feedback reporting means,all of which come within the ambit of the embodiments described herein.

In some embodiments the viewer 8 is attached to a boom support, so thatit may be conveniently placed by the operator. Various preferredembodiments place the controls 11 e on the console 11 d which isadjacent to the sensor array 1 and the wands 2, but they may alsoinclude foot switches 12, one of which is illustrated in FIG. 6. It canbe readily appreciated that the computer 11 may be replaced with two ormore computers, dividing functions. For example, the sensor array 1,wands 2, one computer 11 and viewer 8 may communicate at a significantdistance with a second computer 11′ (not shown) and work site robotcontroller 15. This connection could be a wideband connection whichwould allow the operator to conduct a procedure, such as an operationfrom another city, or country.

The wands 2 and 2 b illustrated in FIGS. 7, 8, 9 and 12 are only meantto be examples and other embodiments would have different shapes andcontrols and still be within the ambit of the embodiments describedherein. For example, some embodiments may have a revolver shape. FIG. 7illustrates the principal components of one embodiment. The wand 2 inFIG. 7 contains a rechargeable battery 17 to supply power to the variousfunctions of the wand 2. The terminals 17 a extend beyond the wand andprovide contacts so that the wand may recharge when placed in a dockingstation which may accommodate the other wands, when not in use.Transmission means 17 b provides power to controller/encoder 18 frombattery 17. Controls 19, 20 and 20 a are meant to be illustrative ofcontrol means, to switch modes of operation, such as from a cauterizingscalpel to a camera or forceps; and/or to vary the heat of thecauterizer or the force applied to the forceps grippers, to name just afew examples. In those cases where the robot arms are snake-like, thesecontrols 19, 20 and 20 a or similar controls, may control the radius ofturn, and location of tums, of one or more of the robot's arms. In FIG.7 transmission means 19 a connects a lever control 19 to thecontroller/encoder 18; transmission means 20 b connect the rotarycontrols 20 and 20 a to the controller/encoder 18.

The controller/encoder 18 in some embodiments pulse the one or more ofthe light emitters 3 a to pass-on control information to the computer,via the sensor array 1, as mentioned above. Transmission means 3 bconnects the emitters to the controller/encoder 18. The light-emittingarray 3 may contain discrete emitters; they may also be lenses oroptical fibers that merely channel the light from another common source,for example, a single light-emitting diode or laser. Other wirelessmeans may be included in the wand 2, which require an aerial 16 a whichcommunicates with an aerial 16 in communication with the computer 11, asillustrated in FIG. 6.

While the wands illustrated are wireless, it should be understood thatvarious other embodiments may have wired connections to the computer 11and/or to a power source, depending upon their use, and theseembodiments come within the ambit of the invention. In some embodiments,such as those in which the wand 2 is connected directly to the computer11, the controller/encoder 18 and all or parts of its function areincorporated into the computer 11.

FIG. 8 illustrates a faux set of forceps 2 b, which give the operator orsurgeon the feel of the forceps he may use later in the same procedureor another day when the robot is not available or suitable for theoperation. FIG. 8 is meant to be illustrative of designing the wand toresemble instruments or tools that would be otherwise used in a manualprocedure. This allows the skills learned using these devices to be usedwhen controlling a robot and reduces dramatically the learning timerequired to use the robot effectively. While embodiments may includewands of many shapes, and configurations, those that resemble infunction or appearance the tools or instruments that are normally used,are particularly useful to those situations where the operator mustcarry out similar procedures both manually and by robot.

FIG. 8 illustrates a faux forceps wand 2 b which has two finger holes21, one of which pivots at the controller/feedback device 21 b, whichdetects motion of the movable finger hole 21, which is transmitted bytransmission means 21 d to the controller/encoder 18 which thentransmits the motion wirelessly, or directly, to the computer 11 orencodes pulses by modulating the output of the light emitters 3 a, thelight beam produced transmitting the motion and position of the movablefinger hole 21 to the sensor array, and subsequently the computer 11.FIG. 8 also illustrates an alternative method of detecting andtransmitting changes in the position of the various control elements onthe wand 2 b. Emitter(s) 3 a may be placed on the movable elements, suchas the finger hole 21. The projected light 4 that is incident on thesensor array 1 or surface 1 may then be used by the computer 11 todetermine the position of the moving element, as it moves, such as thefinger hole 21, illustrated in FIG. 8. This method of detecting andreporting the movement of control elements may be used in any suchelements which are contained in various embodiments of the invention.For diagrammatical simplicity the connection from the light emitter 3 a,on the finger hole 21, to the controller/encoder 18 has not been shown.

The controller/feedback device 21 b may also receive instructionswirelessly or by direct connection from computer 11, which directs themagnitude and direction of haptic feedback forces on the pivoting actionof the movable finger hole 21. These haptic feedback forces can bepassive or active, depending upon the design of the controller/feedbackdevice. In some embodiments, no haptic feedback component isincorporated into the controller/feedback device, and in theseembodiments the controller/feedback device 2Ib merely transmits motionand position data of the movable finger hole 21 to the computer; via thesensor array, wirelessly or directly to the computer 11.

FIG. 8 also illustrates a notional end 4 a for the wand 2 b which theoperator sets at the console 11 d to allow for sufficient room betweenthe ends of the wands 2 b, when the tools are in close proximity.

FIG. 8a , and detail drawings 8 b and 8 c, illustrate a wand 2 similarto FIG. 7, but instead of multiple fixed emitters 3 a, there is one ormore emitters 3 a, the beam(s) 4 of which are redirected by a mirror(s)3 d or other beam redirecting device. In this embodiment, thecontroller/encoder 8 directs each mirror 3 d in the mirror array 3 e,housed in a transparent housing 3 f, and secured to it by rod supports 3g, to redirect part or the entire beam 4 produced by the emitter 3 a. Asillustrated in FIG. 8b , the controller/encoder 18 and/or the computer11 selects each mirror 3 dI and varies its angle relative to the mirrorarray 3 e (one at a time or in groups) and, with other mirrors in thearray, directs the beam(s) in a programmed sequence, noting the angle ofthe projected beam relative to the wand 2 and simultaneously comparingthis to the point(s) 5 detected on the surface Ib, and by mathematicalmeans, including trigonometric methods, defining at every selected pair,at that point in time, the position of the sensor relative to thesurface Ib (or sensor array 1 in those embodiments where a sensor arrayis used to detect the spot 5). Embodiments include all means ofredirecting the beam 4, including solid state electronic mirror arrays,such as those developed by Texas Instruments Corp. or mechanical orother optical redirecting devices well known to the art. The solid statemirror arrays that have been developed by Texas Instruments Corp. mayincorporate any number of mirrors and may incorporate thousands of them,each of them or groups of them being controlled by electronic means.This system is one of a larger class known as microelectronic mechanicalsystems (MEMS). Because the beam can be programmed to quickly producemultiple pair inputs at various angles, for mathematical comparison, asdescribed above, the controller/encoder 18 and/or computer 11 cancalculate the position of the wand 2 in three dimensional space at eachpoint in time. The beam may be directed in various patterns, and mayadapt the pattern so as to maximize the coverage on the sensor array 1or surface Ib and minimize or eliminate the occasions in which the beamwould fall incident outside of the perimeter of either the sensor array1 or the surface Ib.

Other embodiments, such as that illustrated in FIG. 8a , may include amotor or motive device rotating mirror or prism, in place of the mirrorarray 3 e, which redirects the beam 4 and, for example, may project anellipse (when stationary, and open curves, when the wand 2 is in motion)or other set of curves, on the sensor array 1 or surface Ib. In such acase at every point in time the controller/encoder 18 and/or computer 11can calculate the position of the wand 2, as at each point in time theangle of the beam emitted, relative to the wand, is known and matchedwith its other pair 5 that is projected on the sensor array 1 or surfaceIb at that same point in time. Obviously, the rate of rotation must besufficient so that every motion of the wand 2 is captured by the sensorarray 1, or camera 3 c. Since the controller/encoder 18 and/or thecomputer 11 direct the mirrors in the mirror array and control the angleat every point in time each mirror elevates from the mirror array 3 esurface, the angle at which the beam 4 is redirected, relative to thewand 2 is known, speeding the mathematic calculation, described above.As illustrated in FIG. 8c , any number of beams may be actuated at thesame time, some being pulsed, panned about, while others may stay on,and may be fixed or be set at various angles. For example, FIG. 8cillustrates how mirrors 3 d 2 and 3 d 3 may be elevated at differentangles, producing divergent beams 4, with a. known angle. Also, by wayof further example, an embodiment in which the wands 2 incorporate acamera(s), which may be located on various parts of the wand or someother convenient location, some beams may Stay on so that the camera 3 ccan record the surface patterns, which assist in locating the positionof the wand 2, in three dimensional space, relative to the surface Ib.

In other embodiments, as illustrated in FIG. 8d , shapes such as,circles or ellipses are projected on the sensor array 1 or surface Ib byoptical means, such that the changing shapes, define the orientation andposition of the wand 2 b. For example, a single light emitter 3 a, mayinclude a lens, or other optical device, which converts the light beaminto a cone, which may project a ring of light; or a field of lighthaving the same outside boundary as the ring type (herein called afilled ring) onto the sensor array 1 or surface Ib. In most embodimentsa ring (not filled) is preferred, as the amount of data that requiresprocessing is reduced, however ah filled ring or field may be used forsome embodiments. The three dimensional orientation and position of thewand 2, 2 b may be calculated by comparing the projected shape and thedetected shape that is detected on the sensor array I or surface Ib, byvarious mathematical means well known to the art such as projectiongeometry and trigonometry. For example, a light emitter 3 a anddispersing lens which projects a circle onto the sensor array 1 orsurface Ib, when the longitudinal axis of the wand 2 is normal to thesaid sensor array 1 or surface Ib, may for example project a parabola,when tilted off the normal. The computer can use this change in shape tocalculate the orientation and position of the wand 2 with respect to thesaid sensor array 1 or surface Ib. It can be readily appreciated thatthe shapes 5 c, illustrated in FIG. 8d , are in fact equivalent to astring of points 5 illustrated in FIG. 1 and FIG. 6a . The advantage isthat a single emitter 3 a including a dispersing lens(s) may be usedrather than a series of emitters 3 a. The other advantage is there isgreater redundancy. On the other hand, a few discrete points of light 5require far less computation than many points, and where speed ofmovement is important, a few points of light are preferable. Theembodiment illustrated in FIG. 8d may be used with a sensor array Ib inwhich the projected shape 5 c, comprised of spots of light 5, is sensedand reported to the computer 11, or one in which a camera 3 c on thewand 2, or remote from it, is used to record the projected shapes 5 c.As illustrated in FIG. 8d , where a camera 3 c is used for detection, inaddition to those means described above for determining the position ofthe wand 2 b, a coded grid 1 c, may be applied to the surface of surfaceIb. The grid may be coded, in a similar way to a bar code, such that theposition of the shape 5 c or points 5 can be viewed by the camera 3 cand their absolute position on the surface can be reported by the camerato the computer 11, to calculate the orientation and the position of thewand 2 b in three dimensional space. As illustrated in FIG. 8d , the barcode grid may be formed from two bar coded patterns, superimposed atright angles. Any spot on the surface Ia, will then have a uniqueaddress, defined by the adjacent group of bars. The thickness, of thebars and their relative separation from each other may be arranged toencode locational information, by means well known in the art. Since thecomputer 11 has the same grid in memory, it can make a simple patternmatch, or other method, well known in the art, to determine the locationof each point of light that forms the shape 5 c or for that matter anyspot 5 which other embodiments of the invention rely on, such as thoseillustrated in FIG. 6a and FIG. 6a I. At any point on the surface, therewill be a unique address defined by the two patterns immediatelyadjacent to the spots 5 and shapes 5 c. These patterns will form thenearest address to each point at which the spots 5 and shapes 5 c areincident. Since the computer has stored in memory the grid, it can thenrefine the position of each of the incident spots 5 and shape 5 c, bynoting the displacement of the said spots and shapes from the nearestbars, the exact position of which is in the computer memory. Some spots5 and shapes 5 c may by happenstance fall on the intersection of twobars, in which event the displacement calculation may not be necessary.It should be appreciated that while reference has been made to a barcode type of indexing system, other encoding schemes may be used inother embodiments and be within the ambit of the embodiments describedherein.

FIG. 9 illustrates a wand 2 b that includes a sliding finger control 19a with associated controller/feedback device 19 c which functions in asimilar manner to the movable finger hole 21, except that the slidingfinger control 19 provides a convenient means of conveying linear motionto the robot tools. In the example illustrated in FIGS. 9 and 11, whenthe sliding finger control 19 a is moved to position 19 b, a distance of19 d, the controller/feedback device instructs the computer 11 to causethe tool, in this example 26, to move a given distance 19 d in a similarlinear direction, as assumed by 26 a in FIG. 11. As mentioned above, theoperator may set the ratio between the motion of the sliding fingercontrol 19 a and the consequent motion of the tool 19 a, thus thesedistances may be different, even though relative. Simultaneously, theoperator may squeeze the finger hole control 21, to position 21 c, adisplacement of 21 d, to instruct the fingers of tool 26 to close adistance of 21 d to assume the configuration of 26 a in FIG. 11. Asreferred to above, haptic feedback may be provided by thecontroller/feedback controller 21 b by means described above.

FIG. 10 illustrates the operator viewer 8, while the tool 26 is beingmanipulated, as illustrated in FIGS. 9 and 11. In this example theoperator is manipulating wand 2/2 b in his left hand. The left tool icondisplay 10 h has bolded tool icon 26 b, which indicates that theoperator has chosen tool 26 to be controlled by his wand, such as thatillustrated in FIG. 9. The right tool icon display 10 h has bolded toolicon 27 b, which indicates that the operator has chosen tool 27, asillustrated in FIGS. 12, 13 and 14, to be controlled by his wand 2, suchas that illustrated in FIG. 9.

FIGS. 12, 13, and 14, illustrates that rotary motion at the tools can becontrolled from a wand, such as that illustrated in FIGS. 9 and 12. Inthis example of the invention, the movable finger hole control 21 can besqueezed by the operator, displacing it a distance of 21 d to position21 c, which causes the tool 27 to close a distance of 21 d, grippingbolt head 29, assuming configuration 27 a, as illustrated in FIG. 13.Simultaneously, the operator moves the finger slider control 19 b adistance of 19 d, to assume position 19 a, to move the tool forward adistance of 19 d, toward the bolt head 29, as illustrated in FIG. 13.The operator may then choose to rotate the bolt head by rotating rollercontrol 20 a distance and direction 20 b, to move the tool in directionand distance 20 b, to assume-position 27 c. The controller/feedbackcontroller 20 c senses the motion and position of the roller control 20,and may impart haptic feedback, in a similar manner as described abovein relation to the finger hole control 21, above.

While the disclosure and examples of the invention above are in thecontext of a guiding device that is controlled by the operator's hands,and describes the attitude and position of the wand 2, 2 b in threedimensional space, it should be understood that the guiding device maybe used to describe the relative motion of a surface, where the wand orguiding device is fixed, or its position is otherwise known, For exampleFIG. 15 and FIG. 16 illustrate the movement of the surface I4 d 1, 14 d2 of the heart as it beats. In this case the components of the wand 2, 2b are incorporated into the distal end of the camera tool 15 c, althoughthey may be incorporated into any other tool as well, and come withinthe ambit of the invention. The emitter cluster 3 and emitters 3 a maybe seen in greater detail in FIG. 18. It should be noted that thisexample of the emitter cluster 3 which uses any number of emitters 3 a,can be replaced with any of the other types of emitter clusters,including mirror arrays or articulating mirrors and prisms, referred toabove. The angles between the beams 4, including θ1, θ2, and θ3, and theangles between the beams 4 and the tool 15 c as illustrated in FIG. 18are known to the computer 11, in calculating the surface topology I4 d 1and 14 d 2 as illustrated in FIG. 18f As illustrated in FIG. 17, thestereo camera 3 cI and/or 3 c 2 record the spots 5 a and 5 b projectedon the surface of the heart I4 d 1, I4 d 2. It can be readily beappreciated that as the heart beats, the surface I4 dI and I4 d 2 movesup and down, and the spots projected on the surfaces, including 5 a and5 b, change their distance from their neighbors 5 a and Sb on theirrespective surfaces. This distance change, along with the angle of thebeam, is recorded by the camera or cameras, 3 c 1 and/or 3 c 2, and thisinformation is processed by the computer 11, which computes the distanceof those parts of the surface from the distal end of the camera tool 15c, using trigonometric and other mathematical methods, well known to theart. It should be noted that this information also provides the distancebetween the surface and any other tool, such as 15 b and 15 d, asillustrated in FIG. 15 and FIG. 16, as the relative position of thetools is known, but positional sensors incorporated into the said tools.The more spots 5 (in this illustration referred to as 5 a and 5 b todenote their change in position) that are projected at any given time,the greater will be definition of the changing topology of the surfaceand its distance from the distal end of the tools, 15 a, 15 b and 15 c,and any other tools that may be used. Various shapes or patterns, suchas grid patterns may be projected onto the surface of the heart, byvarious optical means, herein described, or well known to the art. Theseshapes or patterns may be considered as strings of spots 5, 5 a and 5 b.

As the heart beats, and the distance between the distal ends of thetools and the heart surface I4 dI and I4 d 2 varies, the computer caninstruct the tool arms to vary their length to keep the distance betweenthe surface and the distal end of the tools constant (assuming theoperator has not instructed any change in tool position). In the exampleillustrated in FIG. 15 and FIG. 16, the arms are telescoping, forexample, the arm 15 c, the camera arm, has a distal shaft which canslide in and out of the main arm 15 d. In FIG. 15 the distal shaft 15 c1 is relatively extended, so that it is located in an ideal position toview the distal end of the other tool shafts, I5 bI and I5 dI which arepositioned, in this example, immediately above the surface I4 dI of theheart. As the surface of the heart moves up, as illustrated in FIG. 16and FIG. 17, the movement is detected by the changing lateral separationbetween the neighboring dots, such as dots 5 a and 5 b, and theirrespective neighboring dots on their respective surfaces. The computermay use this information, using trigonometric calculations and othermathematical techniques, well known to the art, to direct the arms tomove up sufficiently, so as to keep the distal end of the tools, 15 b 2,I5 c 2 and I5 d 2 at the same relative distance to the heart surface I4d 2. As can be appreciated, this dynamic adjustment of the tool armlength can effectively compensate for the motion of the beating heart,allowing the operator to control other tool motions (which overlay thecompensating motions) and which actually do the work, just as if theheart were stationary. As mentioned above, lateral movements of theheart surface I4 dI and I4 d 2 can also be compensated for by usingtexture and pattern recognition methods utilizing the surface that isilluminated by the spots 5 a, 5 b and 5 (in addition to areas, not soilluminated). For this purpose, the spots 5 may be considerably largerto incorporate more textural or pattern information. The vertical andlateral means of characterizing the motions of the heart surface canthen be integrated by the computer 11 and any motion of the heartsurface can be fully compensated for, effectively freezing the heartmotion, to allow for precise manipulation of the tools, for example, tocut and suture the heart tissue. The integration of this informationwill provide information on the bending, expansion and contraction ofthe surface, in addition to (in this example) the changes in elevationof the surface. Fortunately, as the surface that is being worked on bythe surgeon is small, this additional characterization (ie. bending,expansion and contraction) is most often not required. It should benoted that as the camera tool I5 c is making compensating motions, theoperator's view of the heart surface will remain the same, ie the heartwill appear to virtually stop, and any more complex movements, ie.stretching and shrinking and localized motions may be compensated bysoftware manipulating the image, by means well known to the art.Similarly, rather than the camera tool 15 c, making compensationmotions, the image presented to the operator can by optical andelectronic means be manipulated to give the same effect. For example insome embodiments of the invention, the camera lens may be zoomed back asthe surface of the heart advances toward it, giving the effect of anapproximately stationary surface. The operator may of course choose tooverride any or some compensating features of the system. The operatormay also choose to select the area of the surface of the heart or otherbody, for which motion compensation is required. This may involveselecting a tool, such as the sensor cluster 3, with varying angles ofemitter 3 a angles, or instructing the computer to compute only thosechanges within a designated patch, which might be projected on theoperator viewer 8. In most cases the area of relevant motion will besmall, as the actual surgical work space is usually small. The operatormay, or the system may periodically scan the surface to define itscurvature, especially at the beginning of a procedure.

The stereo camera's 3 cI and 3 c 2 may also provide distanceinformation, using parallax information and trigonometric and standardmathematical methods; well known in the art of distance finders. Otheroptical methods of distance determination, such as is used inauto-focusing cameras and medical imaging, and well known to the art,may be used as well, and be within the ambit of the invention, such asDoppler detection and interferometry. This information, acquired by allthese methods, may be used to supplement or backstop the other distanceinformation, which is acquired by methods described above and integratedby the computer 11. It should be noted that embodiments that use one ormore of these methods is within the ambit of the embodiments describedherein.

In some embodiments, the computer 11 may receive information from theelectrocardiogram (ECG) 14 c, which has sensors 14 c on the patient'sabdomen and which indicates that an electrical pulse has been detected,which will result in a muscular response of the heart tissue, and hencea change in the shape and the position of the heart surface. The timedelay between receiving the electrical triggering pulse and the actualresulting heart muscular activity, even though small, allows for thesystem to anticipate the motion and better provide compensating motionsof the length and attitude of the robot's tools, 15 b, 15 c, and 15 d.The system software can compare the electrical impulses, as detected bythe ECG, with the resultant changes in the shape and position of theheart wall, as observed by the methods described above, to model theoptimum tool motion that is required to virtually freeze the heartmotion. In combination with the methods of motion compensation describedabove, the inclusion of the ECG initiating information, generally allowsfor a smoother response of the tools to the motion of the surface it isaccommodating to.

It can be readily appreciated that the system herein described allowsmany surgical procedures to be conducted without resort to a heart lungmachine or to other heart restraining devices, all of which can haveserious side effects.

It should be readily appreciated that embodiments that compensate forthe motion of bodies being manipulated, whether fine grain or coursegrain, (as chosen by the operator) inherently reduce the effects oflatency between the operator's instructions and the motion of the tools,which he guides. This effective reduction or elimination of latencymeans that telesurgery over great distances, which increases withdistance, becomes more practical. The system's software distinguishesbetween operator generated motion, such as the lifting of a tissue flap,and non-operational motion, such as the beating of the heart. Generally,the former is much finer grained and the latter larger grained. Forexample, the software may set the compensating routines to ignore smallarea of motion, where the procedure is being executed, such as thesuturing of a flap, but compensate for grosser motions, such as thebeating of the heart, which causes a large surface of the heart to move.The design of this software and the relative sizes of the body to whichthe compensation routine responds or ignores, and their location, willdepend upon the particular procedure for which the system is beingutilized.

FIG. 21 illustrates an embodiment, which includes additional means toovercome temporal latency between the operator's instructions and theactual tool movements, any of which may be used separately or incombination with the others. FIG. 21 illustrates the operator's view ofthe worksite as viewed through the viewer 8 and eyepieces 9 illustratingthe superimposed tool cursors I5 d 3 and I5 b 3 which illustrate theoperator's intended position of the tools at the worksite. These cursorsare no normal cursors, they show the exact intended position of theworking edges of the tools they control. FIG. 21 also illustrates thatthe operator also sees the latest reported actual position of the toolsI5 d 2 and I5 b 2 at the worksite, the difference between the two beingdue to temporal latency. The superimposed tool cursors I5 d 3 and I5 b 3can be electronically superimposed onto the operator's view, and theseshow the intended position, while I5 d 2 and I5 b 2 show their mostrecently reported actual position. In most preferred embodiments thecursors are rendered in 3-D, and change perspective, to conform to the3-D view of the worksite, are simple outlines, so as not to be confusedwith the images of the actual tools, and may be manually turned on andoff, or automatically presented when the system detects that latency hasexceeded a preset threshold. The intended tool position cursors, 15 d 3and I5 b 3 may also change color or markings to indicate the depth towhich they have passed into the tissue, as indicated 15 d 4 in FIG. 21.The cursors I5 d 3 and 15 b 3 may also change color markings in responseto forces acting on the actual tools I5 d 2 and 15 b 2, so as to preventthe operator from exceeding a safe threshold for that particularsubstrate he is manipulating.

FIGS. 29a to 29e illustrate an example method of limiting the effects oflatency in transmission of tool instructions and movement of the bodyrelative to the position of the tools at the remote worksite. Each videoimage at the worksite FIG. 29b is recorded, time coded, and transmittedto the operating theatre, along with the time code for each video frame.The operator at the operating theatre, then sees the video frame FIG.29a , and then causes the tool I5 d 2 to advance along the incision 14a, which he views as an icon 15 d 3 in FIG. 29c , and the displacementbetween 15 d 3 and I5 d 2 being the measure of latency. The position ofthe cursors, that is, the intended tool positions, are transmitted tothe remote worksite along with the corresponding frame time-code, of theoperator's video frame at each time step. In most embodiments of theinvention, the time-code is originally encoded onto the video stream atthe remote work site by the remote-worksite robot controller 15 whichalso saves in memory the corresponding video frame(s). As a separateprocess, and at each time step, at the remote work site, the position ofthe tools are adjusted to accommodate to their intended positionrelative to the changing position of the body, as described above, whichis illustrated as the accommodation of tool position 45 in FIG. 29d andbecomes the real time image for the comparison to follow. Upon receivingeach instruction from the operator, the worksite controller 15 thenretrieves from memory the corresponding video frame and notes theintended machine instruction relative to it. It then compares this frameFIG. 29b , retrieved from memory with the real time image at the remoteworksite FIG. 29d , and carries out the intended machine instructionembedded in FIG. 29c resulting in the performance of the intendedinstruction as illustrated in FIG. 29e . This comparison may beaccomplished by pattern recognition methods well known to the art whichnote the relative location of such features as protruding veins andarteries and other visible features. In some embodiments, markerssuitable for optical marker recognition 40 are placed on or detachablyattached to the operation surface, such as the heart 14 d to assist intracking movements of the worksite. While the normalization process,including pattern recognition and other means noted above impose asystem overhead on computations, the area that is monitored and theprecision of monitoring can be adjusted by the operator. The areaimmediately adjacent to the present tool position can have, for example,fine grained monitoring and normalization, whereas more peripheral areascan have, for example, coarser gained treatment.

As illustrated in FIG. 21 and FIG. 29c , the operator's intendedmovement of the tools as illustrated to him by cursors 15 b 3 and 15 d3, may diverge from the actual tools that he views I5 b 2, I5 d 2 thedifference being the latency between the two. The operator willimmediately know the degree to which latency is occurring, and he maychoose to slow his movements to allow the actual tools, 15 b 2 and I5 d2 to catch up. In some embodiments the systems stops in the event apreset latency threshold is exceeded. It is important to note that theoperator, when he stops the tool, will know where it will stop at theworksite. For example, in FIG. 21 the operator is making an incisionwhich must stop before it transects artery 38. Even though the tool 15 d2 will continue to move forward, it will stop when it meets the intendedtool position indicated by cursor 15 d 3, just short of the artery 38.While this disclosure has described cursors resembling a scalpel andforceps and their corresponding cursors, it should be understood thatthese are merely examples of a large class of embodiments, which includeall manner of tools and instruments and their corresponding cursors, andall are within the ambit of this invention.

FIG. 19 and FIG. 20 illustrate two exemplar passive haptic feedbackmodules that can be incorporated into the controller/feedbackcontrollers in the wand 2, such as 19 c, 20 c and 21 b. Other hapticfeedback devices, well known to the art, whether active or passive, maybe incorporated into the controller/feedback controller, and all suchsystems are within the ambit of the invention.

FIG. 19 is a typical passive haptic feedback device 30 in which the flowof an electro-rheological or magneto-rheological fluid is controlled byan electrical or magnetic field between elements 36, which can beelectrodes or magnetic coils. The control of the flow of this fluidaffects the speed with which piston 31 a can move back and forth throughthe cylinder 31. The piston is connected and transmits motion and forcesto and between the piston and the various control input devices on thewand 2, for example, the movable finger hole 21, the finger slidercontrol 19 b and the roller control 20. The total displacement of thepiston 19 d may for example be the same as the displacement 19 d of thefinger slider control 19 b, or may vary depending upon the mechanicallinkage connecting the two. The working fluid moves 35 between each sideof the piston 31 a through a bypass conduit 32, where its flow may berestricted or alleviated by varying the electrical or magnetic fieldimposed on an electro-rheological or magneto-rheological fluid. Thecontroller/encoder modulates the electrical energy transmitted bytransmitting means 34 a to the electrodes or coils 36. In other passivehaptic feedback devices a simple electromechanical valve 37 controls theflow 35 of working fluid, which may for example be saline or glycerin,as illustrated in FIG. 20. The controller/encoder modulates theelectrical energy transmitted to the electromechanical valve 37 which istransmitted by transmitting means 37 a, as illustrated in FIG. 20.

In both the haptic feedback devices 30 illustrated in FIGS. 19 and 20, amotion and position sensor 33, transmits information on the motion andposition of the piston 31 a by transmission means 34 to thecontroller/encoder 18. The controller/encoder 18 receives instructionswirelessly 16 a, or directly from the computer, and sends motion andposition information received from the motion and position sensor 33 tothe computer.

Referring to FIG. 22, the wand 2 b may be attached to any body part,tool, or other object, by means of connectors 42 and 42 a, which havecomplementary indexing means 42 c and 42 b, to ensure their properalignment. By such means, and similar connecting means, well known tothe art, these wands 2 b may be placed on a body part, such as thesurface of the heart 14 d 1 to project the beams 4 to a sensor array 1or surface 1 b (not shown) and thereby establish the orientation andposition of the heart as it moves. Similarly a wand 2 b may be connectedto any object to determine its position and orientation in space,together with the means hereinbefore described, in cooperation withcomputer 11.

FIG. 23 illustrates how multiple wands 2 i, 2 ii may be used incombination to provide accurate alignment between two or more objects inspace. In this example FIG. 23, one wand 2 i is connected to a drill 44.The other wand 2 ii is connected to a bone nail 45 with a slottedproximal end, for indexing position, and which has a hidden hole 46which will receive a bolt, once a hole is drilled through bone 46, andthe hidden hole 46 in direction 41. Since the position and orientationof the hidden hole 46 relative to the end of the bone nail, connected tothe wand 20 d is known, the operator can drill a hole along anappropriate path, which is provided by computer 11 calculating theappropriate path and graphically illustrating the proper path with agraphical overlay of the bone shown on viewer 8. The position of thewands 2 i and 2 ii in space is determined by those means hereinbeforedescribed. While FIG. 23 illustrates a single sensor array 1, it shouldbe understood that any number is sensor arrays or surfaces 1 b, might beused, so long as their position and orientation are known to thecomputer 11, and in the case of surface Ib, the camera 3 c, which wouldbe incorporated into the assembly, as illustrated in FIG. 22, canidentify each screen by means of identifying barcodes or otheridentifying marks. In FIG. 23, the sensor array 1 is above the operatingspace. FIG. 23 also illustrates two connectors 42 a that are fixed to acalibrating table 43, which is calibrated in position to sensor array 1.This permits the wands 2 i and 2 ii to be connected to the saidconnectors 42 a on calibrating table 43 to ensure accurate readings whenambient temperature changes might affect the relative angles of thebeams 4, or the distance between emitters 3 a. The computer 11 canrecalibrate the position of the wands 2 i and 2 ii by noting the patternof spots 5 that are projected onto the sensor array 1. While the exampleshown in FIG. 23 illustrates two wands 2 i and 2 ii, any number of wandsmay be used for purposes of comparing the position of objects, to whichthey are connected, or changes in position of those objects over time.For example, one wand might be connected to the end of a leg bone, whileanother might be attached to prosthesis, and the two might be broughttogether in perfect alignment. Another example would be connecting awand 2 i to a probe of known length, and another wand 2 ii to apatient's scull, in a predetermined orientation. The wand 2 i could thenbe inserted into the brain of a patient and the exact endpoint of theprobe could be determined. The wand 2 i could also be attached to thetools I5 b 1, 15 c 1 and I5 d 1, as illustrated on FIG. 15 to ensureperfect positioning of the tools. For example one tool might have adrill attached, such that the drill illustrated in FIG. 23, iscontrolled robotically and in coordination with the position of the bonenail 45 in that of FIG. 23. Due to modern manufacturing processes, thewand 2 b illustrated in FIG. 22, the wand 2 i illustrated in FIG. 23,and sensor array assemblies 1 d illustrated in FIG. 24, can be made tobe very small and placed as an array on objects such as cars, bridges orbuildings to measure their stability over time. Others might beconnected to the earth to measure seismic or local movements of thesoil. These wands 2 b, 2 i, might also be connected to scanners to allowfor the scanning of three dimensional objects, since these wands canprovide the information as to the scanner's position in space; thescanning data can be assembled into a virtual three dimensional output.Since the wands 2 b and 2 i may be put on any object, the uses forassembling objects are countless.

While FIG. 23 illustrates a system in which the camera 3 c is located inthe wand 2, it should be understood that a surface Ib, as illustrated inFIG. 6a 1, or a separate camera 3 c could be used, as illustrated inFIG. 6a 2, all of which can detect the position of the incident spots 5.

FIG. 24 illustrates a similar arrangement of wands 2 i and 2 ii asillustrated in FIG. 23, but the wand 2 ii is replaced with sensor arrayassembly Id. The sensor array assembly 1 d uses a sensor array 1, whichsenses the position 5 of the incident beams 4 and reports theircoordinates by connection 11 a to controller/encoder 18 and thenwirelessly to the computer 11 (not shown). This system provides the samepositional information as that system illustrated on FIG. 23, exceptthat the large sensor in FIG. 23 has been replaced with a much smallersensor in FIG. 24, making it more economical for certain purposes.

Referring to FIG. 25, a cross-sectional, perspective view illustratestwo combination wand and sensor array assemblies 47 which have beendaisy chained with two other combination units (not shown). Such arraysmay also be combined with sensor arrays 1 or surfaces Ib for greateraccuracy. Such arrays can be used to detect and report the relativemovement of parts of structures, to which they are attached, such asbridges, ships and oil pipelines.

While embodiments have been described with respect to a system comprisedof three tools 15 b, 15 c, and 15 d, it is to be understood that anynumber of tools and any number of wands 2 may be used in such a system.

While embodiments have used examples of tools that a robot couldmanipulate, it is to be understood that any tool, object or body may bemoved or directed by the methods and devices described by way of exampleherein, and all such embodiments are within the ambit of the embodimentsherein.

While embodiments have been described as being used as a surgical robot,it is to be understood that this use is merely used as a convenientexample of many uses to which the robot could be employed, all of whichcome within the ambit of the embodiments described herein.

While embodiments have been described as being used to manipulate tools,it is to be understood that the methods and devices described by exampleherein may be used to manipulate virtual, computer generated objects.For example, embodiments may be used for assembling and/or modelingphysical processes, such as molecular modeling and fluid dynamicsmodeling to name just a few.

It is to be understood that modifications and variations to theembodiments described herein may be resorted to without departing fromthe spirit and scope of the invention as those skilled in the art willreadily understand. Such modifications and variations are considered tobe within the purview and scope of the inventions and appended claims.

1-72. (canceled)
 73. A method for displaying information on a roboticsystem viewer, the method comprising: receiving a first image of atleast a portion of a remote worksite; causing the first image to bedisplayed on the viewer; in response to a first robotic tool being madeavailable for use at the remote worksite, causing an overlay of a firsticon representing the first robotic tool to be displayed at the viewer.74. The method of claim 73, wherein the first icon is to be displayed ata first region of the viewer, the method further comprising in responseto a second robotic tool being selected and made available for use atthe remote worksite, causing an overlay of a second icon representingthe second robotic tool to be displayed at a second region of theviewer.
 75. The method of claim 74 wherein the first region and secondregion are each within a region occupied by the first image on theviewer.
 76. The method of claim 73 wherein causing the first iconrepresenting the first robotic tool to be displayed at the viewercomprises causing a portion of the first icon to be bolded whendisplayed.
 77. The method of claim 73 wherein the overlay of the firsticon may be resized, repositioned or turned off.
 78. The method of claim74 wherein the overlay of the second icon may be resized, repositionedor turned off.
 79. A method for displaying information on a roboticsystem viewer, the method comprising: receiving a first image of atleast a portion of a remote worksite; causing the first image to bedisplayed on the viewer; causing a graphical overlay to be displayed atthe viewer; in response to a first robotic tool being made available foruse at the remote worksite, causing the graphical overlay to include afirst icon representing the first robotic tool.
 80. The method of claim79 further comprising in response to a second robotic tool beingselected and made available for use at the remote worksite, causing thegraphical overlay to include a second icon representing the secondrobotic tool.
 81. The method of claim 80, wherein the first icon isdisplayed at a first region of the viewer and the second icon isdisplayed at a second region of the viewer, wherein the first region andthe second region are each within a region occupied by the first imageon the viewer.
 82. A method for displaying information on a roboticsystem viewer, the method comprising: receiving a first image of atleast a portion of a remote worksite; causing the first image to bedisplayed on the viewer; causing a graphical overlay to be displayed atthe viewer; in response to a first robotic tool being made available foruse at the remote worksite, causing a characteristic of the graphicaloverlay to change to represent the first robotic tool.